CN2747030Y - Three-axis laying manipulator wrist easy to keep stable tension of tows - Google Patents

Abstract

The utility model relates to a three-axis laying mechanical wrist which is easy to keep the tension of tow stable, and is mainly used in the field of automatic laying and forming of composite materials. The wrist is composed of three parts, the forearm, the wrist joint and the big arm, and can realize rotation around three axes. Its main features are: the three-axis rotation is driven by three concentric hollow shafts that fit together, and the tow passes through the middle of the hollow driving shaft of the wrist. During the rotation process of the utility model, the tow is always at the center of rotation, and the length change of the tow between the laying head and the yarn bobbin installed in the silk storage box is the smallest, and it is easy to keep the tension stable without using the computer-controlled redirection wheel technology .

Description

Three-axis lay-up robot for easy maintenance of tow tension

technical field

The utility model relates to a three-axis mechanical wrist used for automatic filament laying and forming of composite materials, in particular to a mechanical wrist through which filaments pass through the middle of a hollow drive shaft of the wrist.

Background technique

In the process of automatic filament laying and forming of composite materials, the tension of filaments has an important influence on the mechanical properties of products. In order to ensure the parallelism between the tows to form a high-quality prepreg tape, the tension of the tows should be kept stable during the laying process. The wire laying forming process also requires that the mechanical wrist connected to the laying head has a rotating function to ensure that the laying head is always in the normal direction of the surface of the mandrel during the laying process.

Existing automatic silk laying machines, such as the structure described in U.S. Patents USP5022952 and USP6069164, the center of the tow within the range of the mechanical wrist does not coincide with the axis of rotation of the wrist, and the rotation of the wrist causes the gap between the laying head and the yarn bobbin installed in the silk storage box. The length of the tow varies greatly between tows, causing the tension of the tow to increase or relax; in order to solve the aforementioned problems, technologies such as computer-controlled redirection wheels (as described in USP5239457) are used, but corresponding equipment needs to be added to reduce the reliability of the system , Increase the manufacturing cost of the laying machine.

Contents of the invention

The purpose of the utility model is to overcome the deficiencies of the prior art, and propose a three-axis laying mechanical wrist which is easy to keep the tension of the tow stable during the rotation process.

The technical solution adopted by the utility model: the mechanical wrist is composed of three parts: the forearm, the wrist joint and the big arm, and the rotation around the three axes is driven by three concentric hollow shafts that are nested together. The innermost shaft realizes the rotation of the forearm through two pairs of bevel gears and a pair of cylindrical gears; the middle shaft realizes the swing of the wrist joint through a pair of bevel gears; the outermost shaft directly drives the arm to rotate. The tow passes through the middle of the innermost hollow shaft, and a guide wheel is installed at the wrist joint.

The utility model has the advantages: during the rotation process, the tow is always at the center of rotation, the length change of the tow between the laying head and the bobbin is the smallest, it is easy to keep the tension stable, and there is no need to use the servo redirection wheel technology controlled by the computer.

Description of drawings

Fig. 1 is the schematic diagram of the utility model;

Fig. 2 is a schematic diagram of the utility model.

Detailed ways

Below in conjunction with accompanying drawing, the example of the present utility model is described in further detail:

The mechanical wrist consists of three parts: forearm, wrist joint and large arm. According to the requirements of the automatic silk laying process, the small arm 1 can rotate around its axis 2, the wrist joint 3 can swing around its axis 4, and the big arm can rotate around its axis 6, see accompanying drawing 1.

The above rotation is driven by three concentric hollow shafts that fit together. The shaft 8 in Figure 2 drives the small arm 1 to rotate through the bevel gears 7, 6, 5, 4 and cylindrical gears 3 and 2 in turn; the shaft 9 through the bevel gear 12 drives the wrist joint 14 connected together with the bevel gear 13 to realize its swing; the shaft 10 directly drives the big arm 11 to rotate around its axis. The guide wheel 15 is installed on the wrist joint 14 .

During the rotation of the manipulator, the center of the tow is always at the center of rotation, so that the length change of the tow between the laying head and the bobbin installed in the storage box is minimized, and it is easy to maintain stable tension.

Claims (2)

1. one kind is easy to keep the mechanical wrists of three stable laies of tow tension, being used for the composite automatic fiber placement is shaped, this wrist is made of forearm, wrist joint and big arm three parts, wrist can realize the rotation around three axis, it is characterized in that: three rotation is driven by three concentric hollow shafts that are linked in together, and tow passes in the middle of the hollow drive shaft of wrist.

2. according to claim 1ly be easy to keep three stable laies machinery wrists of tow tension, it is characterized in that: the rotation around three axis is driven by three concentric hollow shafts that are linked in together; The axle of innermost layer is realized the rotation of forearm by two pairs of bevel gears and a pair of roller gear; The axle in intermediate layer is realized carpal swing by bevel-gear sett; Outermost axle directly drives big arm and rotates.